Nao机器人技能除了现有的ik，大脚，走路，起身外，还可以加一些自定义技能。比如守门员可以有扑球的技能。这里用一个简单的挥挥手打招呼的技能为例，演示一下怎么加入一个技能吧。

  • 首先，在headers/headers.h文件里面的enum SkillType的声明里面加入新技能的名字。这里以SKILL_HELLO为新技能的名字。 
    //Skills
enum SkillType {
  SKILL_WALK_OMNI,

  SKILL_STAND,

  SKILL_KICK_LEFT_LEG,
  SKILL_KICK_RIGHT_LEG,

  SKILL_KICK_IK_0_LEFT_LEG,
  SKILL_KICK_IK_0_RIGHT_LEG,

  SKILL_NONE,
  SKILL_HELLO

};

  • 然后在behaviors/naobehavior.cc里面的NaoBehavior::NaoBehavior(const std::string teamName, int uNum, const map<string, string>& namedParams_, const string& rsg_)函数里面载入skl文件。大约在初始代码第95行。 
    try {
      readSkillsFromFile( "./skills/stand.skl" );
      readSkillsFromFile( "./skills/kick.skl" );

      //hello skills
      readSkillsFromFile( "./skills/hello.skl" );
      //end hello skills


      // ik skills
      readSkillsFromFile( "./skills/kick_ik_0.skl" );
      // end ik skills

  }
  catch( std::string& what ) {
      cerr << "Exception caught: " << what << endl;
      exit(1);
  }
  catch (std::exception& e)
  {
      cerr << e.what() << endl;
      exit(1);
  }

    注意：skl文件里面要定义skill的名字，例如此处的skl中skill的名字为SKILL_HELLO，在STARTSKILL后面定义

STARTSKILL SKILL_HELLO

#State 0
STARTSTATE

settar EFF_LL1 0 EFF_LL2 0 EFF_LL3 -10.0 EFF_LL4 -20.0 EFF_LL5 20.0 EFF_LL6 0 end
settar EFF_RL1 0 EFF_RL2 0 EFF_RL3 -10.0 EFF_RL4 -20.0 EFF_RL5 20.0 EFF_RL6 0 end

wait 0.2 end
ENDSTATE

#State 1
STARTSTATE

settar EFF_LA1 90 EFF_LA2 90 EFF_LL1 0 EFF_LL2 0 EFF_LL3 -10.0 EFF_LL4 -20.0 EFF_LL5 20.0 EFF_LL6 0 end

wait 2 end
ENDSTATE

#State 2
STARTSTATE

settar EFF_RA1 -90 EFF_LA2 -90 EFF_RL1 0 EFF_RL2 0 EFF_RL3 -10.0 EFF_RL4 -20.0 EFF_RL5 20.0 EFF_RL6 0 end

wait 2 end
ENDSTATE

ENDSKILL

  • 然后在headers/headers.cc里面的EnumParser<SkillType>::EnumParser()函数里面加入

    string2enum["SKILL_HELLO"] = SKILL_HELLO;
enum2String[SKILL_HELLO] = "SKILL_HELLO";

  • 最后，在behaviors/strategy.cc里面修改SkillType NaoBehavior::selectSkill()函数，让它return SKILL_HELLO;

    SkillType NaoBehavior::selectSkill() {
  return SKILL_HELLO;
}

好了，运行代码。PlayOn,是不是看到你的新技能了呢。

--环家伟